version: 66.06
glider: 146
mission: 6
dive: 290
start: 6 15 111 6 47 49
data:
$ID,146
$MISSION,6
$DIVE,290
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-274915.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3010
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,064037,2247.371,-15759.928,68,1.5,68,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.3
$GPS2,064655,2247.416,-15759.992,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.223,-0.072
$KALMAN_X,-138017.4,53.9,26.1,132482.7,-1174.1
$KALMAN_Y,-58443.4,485.0,390.0,64072.3,210.9
$MHEAD_RNG_PITCHd_Wd,242.0,5194,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.38,0.000,2,0.000,0.000,480,1921,3251,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-6.3,9,119,11.98,2.47,-4.32,0.000,4,0.137,0.047,2850,3442,3490,0,0,0,0,0,0
$GC,283,-1.32,-116.8,42.6,-14.2,31,288,0.10,2.50,0.00,0.000,6,0.118,0.026,2871,1884,3492,0,0,0,0,0,0
$GC,551,-1.27,-116.8,80.1,-13.9,55,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1884,3492,0,0,0,0,0,0
$GC,812,-1.27,-116.8,115.3,-13.6,80,816,0.00,2.45,0.00,0.000,4,0.000,0.028,2871,3442,3493,0,0,0,0,0,0
$GC,857,-1.27,-116.8,121.8,-13.3,83,863,0.00,2.47,0.00,0.000,6,0.000,0.026,2871,1887,3493,0,0,0,0,0,0
$GC,1122,-1.27,-116.8,153.3,-11.1,108,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1887,3494,0,0,0,0,0,0
$GC,1386,-1.27,-116.8,180.0,-10.9,133,1391,0.00,2.45,0.00,0.000,4,0.000,0.031,2871,3442,3494,0,0,0,0,0,0
$GC,1433,-1.33,-116.8,185.1,-11.9,136,1437,0.00,2.42,0.00,0.000,6,0.000,0.029,2871,1904,3494,0,0,0,0,0,0
$GC,1720,-1.33,-116.8,218.5,-10.9,151,1724,0.00,2.65,0.00,0.000,4,0.000,0.058,2871,319,3495,0,0,0,0,0,0
$GC,1763,-1.33,-116.8,223.4,-10.3,152,1767,0.00,2.38,0.00,0.000,6,0.000,0.018,2871,1900,3495,0,0,0,0,0,0
$GC,2043,-1.37,-116.8,251.1,-10.2,159,2047,0.00,2.42,0.00,0.000,4,0.000,0.031,2871,3441,3495,0,0,0,0,0,0
$GC,2065,-1.44,-116.8,253.2,-8.6,159,2070,0.12,2.47,0.00,0.000,6,0.073,0.032,2824,1889,3494,0,0,0,0,0,0
$GC,2322,-1.44,-116.8,278.8,-9.8,166,2327,0.10,2.50,0.00,0.000,4,0.117,0.029,2846,3446,3495,0,0,0,0,0,0
$GC,2378,-1.51,-116.8,283.8,-8.5,167,2382,0.00,2.45,0.00,0.000,6,0.000,0.028,2846,1913,3495,0,0,0,0,0,0
$GC,2644,-1.51,-116.8,311.8,-10.7,174,2648,0.00,2.80,0.00,0.000,4,0.000,0.074,2846,311,3495,0,0,0,0,0,0
$GC,2688,-1.51,-116.8,316.3,-10.4,175,2693,0.00,2.45,0.00,0.000,6,0.000,0.027,2846,1863,3495,0,0,0,0,0,0
$GC,2966,-1.55,-116.8,342.1,-9.5,182,2968,0.10,0.00,0.00,0.000,6,0.087,0.000,2810,1863,3494,0,0,0,0,0,0
$GC,3209,-1.55,-116.8,371.5,-12.4,188,3214,0.00,2.62,0.00,0.000,4,0.000,0.053,2810,3467,3492,0,0,0,0,0,0
$GC,3255,-1.55,-116.8,377.2,-12.6,189,3259,0.00,2.62,0.00,0.000,6,0.000,0.050,2810,1896,3492,0,0,0,0,0,0
$GC,3532,-1.55,-116.8,410.1,-11.4,196,3536,0.00,2.58,0.00,0.000,4,0.000,0.041,2810,3465,3491,0,0,0,0,0,0
$GC,3571,-1.55,-116.8,414.4,-11.4,197,3575,0.00,2.62,0.00,0.000,6,0.000,0.051,2810,1906,3490,0,0,0,0,0,0
$GC,3855,-1.55,-116.8,443.2,-10.2,204,3860,0.00,2.95,0.00,0.000,4,0.000,0.107,2810,305,3489,0,0,0,0,0,0
$GC,3870,-1.55,-116.8,445.1,-10.3,204,3875,0.00,2.55,0.00,0.000,6,0.000,0.034,2810,1892,3488,0,0,0,0,0,0
$GC,4132,-1.55,-116.8,472.5,-10.4,211,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1892,3487,0,0,0,0,0,0
$GC,4377,-1.55,-116.8,497.7,-10.5,217,4381,0.00,2.70,0.00,0.000,4,0.000,0.072,2810,3476,3485,0,0,0,0,0,0
$STATE,4395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4404,-0.31,0.0,500.3,11.7,217,4505,1.20,0.00,97.80,0.914,6,0.081,0.000,3084,1995,3010,0,0,0,0,0,0
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4508,1.38,116.8,504.0,0.0,220,4621,1.58,2.78,99.55,0.895,4,0.044,0.053,3462,3586,2532,0,0,0,0,0,0
$GC,4661,1.33,181.1,502.3,6.3,223,4722,0.00,2.72,55.90,0.881,6,0.000,0.053,3462,1996,2271,0,0,0,0,0,0
$GC,5001,1.25,181.1,467.2,11.0,232,5002,0.15,0.00,0.00,0.000,6,0.121,0.000,3433,1996,2261,0,0,0,0,0,0
$GC,5244,1.27,197.8,444.1,9.1,238,5263,0.00,2.70,14.18,0.813,4,0.000,0.048,3433,3585,2202,0,0,0,0,0,0
$GC,5316,1.27,197.8,437.2,10.2,239,5321,0.00,2.67,0.00,0.000,6,0.000,0.045,3433,2015,2200,0,0,0,0,0,0
$GC,5571,1.29,211.7,413.8,9.2,246,5591,0.00,3.03,13.27,0.805,4,0.000,0.097,3432,410,2145,0,0,0,0,0,0
$GC,5619,1.22,211.7,408.9,10.2,247,5623,0.00,2.60,0.00,0.000,6,0.000,0.028,3432,2006,2144,0,0,0,0,0,0
$GC,5898,1.23,220.4,382.9,9.5,254,5912,0.00,2.65,8.75,0.746,4,0.000,0.048,3432,3571,2110,0,0,0,0,0,0
$GC,5923,1.25,231.6,380.1,9.4,254,5942,0.00,2.65,11.57,0.769,6,0.000,0.040,3432,1990,2064,0,0,0,0,0,0
$GC,6229,1.26,243.1,350.9,9.4,262,6248,0.00,2.67,11.35,0.761,4,0.000,0.035,3432,3586,2018,0,0,0,0,0,0
$GC,6276,1.26,243.1,345.9,10.6,263,6280,0.00,2.65,0.00,0.000,6,0.000,0.043,3432,1998,2016,0,0,0,0,0,0
$GC,6554,1.26,243.1,315.3,11.6,270,6559,0.00,2.80,0.00,0.000,4,0.000,0.074,3432,404,2014,0,0,0,0,0,0
$GC,6604,1.26,243.1,308.7,13.0,271,6609,0.00,2.58,0.00,0.000,6,0.000,0.025,3432,2016,2013,0,0,0,0,0,0
$GC,6876,1.26,243.1,278.7,10.6,278,6881,0.00,2.75,0.00,0.000,4,0.000,0.063,3432,411,2013,0,0,0,0,0,0
$GC,6931,1.26,243.1,271.8,12.7,279,6935,0.00,2.50,0.00,0.000,6,0.000,0.025,3432,1990,2011,0,0,0,0,0,0
$GC,7199,1.30,244.3,244.2,10.0,286,7204,0.00,2.58,0.00,0.000,4,0.000,0.042,3432,3571,2011,0,0,0,0,0,0
$GC,7250,1.37,260.6,239.4,9.1,287,7272,0.10,2.62,16.02,0.723,6,0.094,0.035,3462,1973,1946,0,0,0,0,0,0
$GC,7525,1.39,271.6,213.7,9.4,294,7538,0.00,0.00,10.77,0.672,6,0.000,0.000,3462,1973,1901,0,0,0,0,0,0
$GC,7770,1.39,271.6,184.9,12.2,306,7774,0.00,2.70,0.00,0.000,4,0.000,0.070,3462,406,1899,0,0,0,0,0,0
$GC,7824,1.39,271.6,178.3,13.3,310,7829,0.00,2.53,0.00,0.000,6,0.000,0.025,3462,2012,1898,0,0,0,0,0,0
$GC,8092,1.39,271.6,149.6,10.5,334,8096,0.00,2.50,0.00,0.000,4,0.000,0.041,3462,3562,1898,0,0,0,0,0,0
$GC,8138,1.39,271.6,144.2,12.1,337,8142,0.00,2.53,0.00,0.000,6,0.000,0.030,3462,2006,1897,0,0,0,0,0,0
$GC,8406,1.43,303.5,120.2,8.2,361,8440,0.00,2.75,28.42,0.632,4,0.000,0.061,3462,419,1770,0,0,0,0,0,0
$GC,8503,1.43,303.5,110.6,10.7,369,8507,0.00,2.47,0.00,0.000,6,0.000,0.024,3462,2001,1768,0,0,0,0,0,0
$GC,8770,1.48,303.5,83.0,11.0,393,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2003,1767,0,0,0,0,0,0
$GC,9037,1.56,309.5,55.0,9.7,418,9053,0.15,2.70,5.88,0.467,4,0.068,0.050,3506,422,1748,0,0,0,0,0,0
$GC,9084,1.56,309.5,48.9,12.4,421,9093,0.00,2.45,0.00,0.000,6,0.000,0.018,3506,1987,1747,0,0,0,0,0,0
$GC,9370,1.57,317.9,20.6,9.6,453,9388,0.00,0.00,9.10,0.491,6,0.000,0.000,3506,1989,1712,0,0,0,0,0,0
$STATE,9541,end climb,SURFACE_DEPTH_REACHED
$STATE,9544,begin surface coast
$FINISH,0.5,0.974929
$STATE,9607,end surface coast,CONTROL_FINISHED_OK
$STATE,9607,begin surface
$SM_CCo,9630,50.78,0.523,0,0,1459,380.21
$SM_GC,1.15,0.00,0.00,50.78,0.000,0.000,0.523,475,1874,1459,-12.35,-0.48,380.21
$IRIDIUM_FIX,2237.01,-15757.16,080900,040434
$TT8_MAMPS,0.025311
$HUMID,62.01
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.60
$XPDR_PINGS,45
$24V_AH,23.5,36.487
$10V_AH,10.4,31.884
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.925,119.825,382.575,50.775,0.000,25.432,35.252,185.986,11.250,0.000,11.984,989.263,6178.451,482.473,1892.323,518.617,33.370,1194.515,0.000,1890.654,0.000,0.533,0.000
$DEVICE_MAMPS,136.526,107.380,914.264,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.920,270.839,374.364,726.891,1094.505,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38214,487
$CAP_FILE_SIZE,101973,0
$CFSIZE,260165632,167067648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,093024,2247.132,-15801.813,29,1.1,33,10.1